Controller for executing a gripper command action for simple single-dof grippers. More...

#include <two_finger_controller.h>

Inheritance diagram for gripper_action_controller::GripperActionControllerTwo< HardwareInterface >:

Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...
Public Member Functions
double	gap2Pos (double gap)
	GripperActionControllerTwo ()
double	pos2Gap (double pos)
Non Real-Time Safe Functions
bool	init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
Real-Time Safe Functions
void	starting (const ros::Time &time)
	Holds the current position.
void	stopping (const ros::Time &time)
	Cancels the active action goal, if any.
void	update (const ros::Time &time, const ros::Duration &period)
Public Attributes
realtime_tools::RealtimeBuffer < Commands >	command_
Commands	command_struct_
Commands	command_struct_rt_
Private Types
typedef actionlib::ActionServer < control_msgs::GripperCommandAction >	ActionServer
typedef boost::shared_ptr < ActionServer >	ActionServerPtr
typedef ActionServer::GoalHandle	GoalHandle
typedef HardwareInterfaceAdapter < HardwareInterface >	HwIfaceAdapter
typedef realtime_tools::RealtimeServerGoalHandle < control_msgs::GripperCommandAction >	RealtimeGoalHandle
typedef boost::shared_ptr < RealtimeGoalHandle >	RealtimeGoalHandlePtr
Private Member Functions
void	cancelCB (GoalHandle gh)
void	checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity, double current_effort, double max_effort)
	Check for success and publish appropriate result and feedback.
void	goalCB (GoalHandle gh)
void	preemptActiveGoal ()
void	setHoldPosition (const ros::Time &time)
Private Attributes
ros::Publisher	_gapPub
double	_lastPosition
ros::Duration	action_monitor_period_
ActionServerPtr	action_server_
double	computed_command_
	Computed command.
ros::NodeHandle	controller_nh_
double	default_max_effort_
	Max allowed effort.
ros::Timer	goal_handle_timer_
double	goal_tolerance_
ros::Time	last_movement_time_
	Store stall time.
HwIfaceAdapter	left_hw_iface_adapter_
	Adapts desired goal state to HW interface.
hardware_interface::JointHandle	leftjoint_
	Handles to controlled joints.
std::string	leftJoint_name_
	Controlled joint names.
std::string	name_
	Controller name.
control_msgs::GripperCommandResultPtr	pre_alloc_result_
HwIfaceAdapter	right_hw_iface_adapter_
	Adapts desired goal state to HW interface.
hardware_interface::JointHandle	rightjoint_
	Handles to controlled joints.
std::string	rightJoint_name_
	Controlled joint names.
RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any.
double	stall_timeout_
double	stall_velocity_threshold_
	Stall related parameters.
bool	update_hold_position_
bool	verbose_
	Hard coded verbose flag to help in debugging.

Detailed Description

template<class HardwareInterface>
class gripper_action_controller::GripperActionControllerTwo< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters:

HardwareInterface Controller hardware interface. Currently hardware_interface::PositionJointInterface and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 79 of file two_finger_controller.h.